MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/drivers/CAN.cpp@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2013 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16 #include "drivers/CAN.h"
sahilmgandhi 18:6a4db94011d3 17
sahilmgandhi 18:6a4db94011d3 18 #if DEVICE_CAN
sahilmgandhi 18:6a4db94011d3 19
sahilmgandhi 18:6a4db94011d3 20 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 21
sahilmgandhi 18:6a4db94011d3 22 namespace mbed {
sahilmgandhi 18:6a4db94011d3 23
sahilmgandhi 18:6a4db94011d3 24 static void donothing() {}
sahilmgandhi 18:6a4db94011d3 25
sahilmgandhi 18:6a4db94011d3 26 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
sahilmgandhi 18:6a4db94011d3 27 // No lock needed in constructor
sahilmgandhi 18:6a4db94011d3 28
sahilmgandhi 18:6a4db94011d3 29 for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
sahilmgandhi 18:6a4db94011d3 30 _irq[i] = callback(donothing);
sahilmgandhi 18:6a4db94011d3 31 }
sahilmgandhi 18:6a4db94011d3 32
sahilmgandhi 18:6a4db94011d3 33 can_init(&_can, rd, td);
sahilmgandhi 18:6a4db94011d3 34 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
sahilmgandhi 18:6a4db94011d3 35 }
sahilmgandhi 18:6a4db94011d3 36
sahilmgandhi 18:6a4db94011d3 37 CAN::~CAN() {
sahilmgandhi 18:6a4db94011d3 38 // No lock needed in destructor
sahilmgandhi 18:6a4db94011d3 39 can_irq_free(&_can);
sahilmgandhi 18:6a4db94011d3 40 can_free(&_can);
sahilmgandhi 18:6a4db94011d3 41 }
sahilmgandhi 18:6a4db94011d3 42
sahilmgandhi 18:6a4db94011d3 43 int CAN::frequency(int f) {
sahilmgandhi 18:6a4db94011d3 44 lock();
sahilmgandhi 18:6a4db94011d3 45 int ret = can_frequency(&_can, f);
sahilmgandhi 18:6a4db94011d3 46 unlock();
sahilmgandhi 18:6a4db94011d3 47 return ret;
sahilmgandhi 18:6a4db94011d3 48 }
sahilmgandhi 18:6a4db94011d3 49
sahilmgandhi 18:6a4db94011d3 50 int CAN::write(CANMessage msg) {
sahilmgandhi 18:6a4db94011d3 51 lock();
sahilmgandhi 18:6a4db94011d3 52 int ret = can_write(&_can, msg, 0);
sahilmgandhi 18:6a4db94011d3 53 unlock();
sahilmgandhi 18:6a4db94011d3 54 return ret;
sahilmgandhi 18:6a4db94011d3 55 }
sahilmgandhi 18:6a4db94011d3 56
sahilmgandhi 18:6a4db94011d3 57 int CAN::read(CANMessage &msg, int handle) {
sahilmgandhi 18:6a4db94011d3 58 lock();
sahilmgandhi 18:6a4db94011d3 59 int ret = can_read(&_can, &msg, handle);
sahilmgandhi 18:6a4db94011d3 60 unlock();
sahilmgandhi 18:6a4db94011d3 61 return ret;
sahilmgandhi 18:6a4db94011d3 62 }
sahilmgandhi 18:6a4db94011d3 63
sahilmgandhi 18:6a4db94011d3 64 void CAN::reset() {
sahilmgandhi 18:6a4db94011d3 65 lock();
sahilmgandhi 18:6a4db94011d3 66 can_reset(&_can);
sahilmgandhi 18:6a4db94011d3 67 unlock();
sahilmgandhi 18:6a4db94011d3 68 }
sahilmgandhi 18:6a4db94011d3 69
sahilmgandhi 18:6a4db94011d3 70 unsigned char CAN::rderror() {
sahilmgandhi 18:6a4db94011d3 71 lock();
sahilmgandhi 18:6a4db94011d3 72 int ret = can_rderror(&_can);
sahilmgandhi 18:6a4db94011d3 73 unlock();
sahilmgandhi 18:6a4db94011d3 74 return ret;
sahilmgandhi 18:6a4db94011d3 75 }
sahilmgandhi 18:6a4db94011d3 76
sahilmgandhi 18:6a4db94011d3 77 unsigned char CAN::tderror() {
sahilmgandhi 18:6a4db94011d3 78 lock();
sahilmgandhi 18:6a4db94011d3 79 int ret = can_tderror(&_can);
sahilmgandhi 18:6a4db94011d3 80 unlock();
sahilmgandhi 18:6a4db94011d3 81 return ret;
sahilmgandhi 18:6a4db94011d3 82 }
sahilmgandhi 18:6a4db94011d3 83
sahilmgandhi 18:6a4db94011d3 84 void CAN::monitor(bool silent) {
sahilmgandhi 18:6a4db94011d3 85 lock();
sahilmgandhi 18:6a4db94011d3 86 can_monitor(&_can, (silent) ? 1 : 0);
sahilmgandhi 18:6a4db94011d3 87 unlock();
sahilmgandhi 18:6a4db94011d3 88 }
sahilmgandhi 18:6a4db94011d3 89
sahilmgandhi 18:6a4db94011d3 90 int CAN::mode(Mode mode) {
sahilmgandhi 18:6a4db94011d3 91 lock();
sahilmgandhi 18:6a4db94011d3 92 int ret = can_mode(&_can, (CanMode)mode);
sahilmgandhi 18:6a4db94011d3 93 unlock();
sahilmgandhi 18:6a4db94011d3 94 return ret;
sahilmgandhi 18:6a4db94011d3 95 }
sahilmgandhi 18:6a4db94011d3 96
sahilmgandhi 18:6a4db94011d3 97 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
sahilmgandhi 18:6a4db94011d3 98 lock();
sahilmgandhi 18:6a4db94011d3 99 int ret = can_filter(&_can, id, mask, format, handle);
sahilmgandhi 18:6a4db94011d3 100 unlock();
sahilmgandhi 18:6a4db94011d3 101 return ret;
sahilmgandhi 18:6a4db94011d3 102 }
sahilmgandhi 18:6a4db94011d3 103
sahilmgandhi 18:6a4db94011d3 104 void CAN::attach(Callback<void()> func, IrqType type) {
sahilmgandhi 18:6a4db94011d3 105 lock();
sahilmgandhi 18:6a4db94011d3 106 if (func) {
sahilmgandhi 18:6a4db94011d3 107 _irq[(CanIrqType)type] = func;
sahilmgandhi 18:6a4db94011d3 108 can_irq_set(&_can, (CanIrqType)type, 1);
sahilmgandhi 18:6a4db94011d3 109 } else {
sahilmgandhi 18:6a4db94011d3 110 _irq[(CanIrqType)type] = callback(donothing);
sahilmgandhi 18:6a4db94011d3 111 can_irq_set(&_can, (CanIrqType)type, 0);
sahilmgandhi 18:6a4db94011d3 112 }
sahilmgandhi 18:6a4db94011d3 113 unlock();
sahilmgandhi 18:6a4db94011d3 114 }
sahilmgandhi 18:6a4db94011d3 115
sahilmgandhi 18:6a4db94011d3 116 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
sahilmgandhi 18:6a4db94011d3 117 CAN *handler = (CAN*)id;
sahilmgandhi 18:6a4db94011d3 118 handler->_irq[type].call();
sahilmgandhi 18:6a4db94011d3 119 }
sahilmgandhi 18:6a4db94011d3 120
sahilmgandhi 18:6a4db94011d3 121 void CAN::lock() {
sahilmgandhi 18:6a4db94011d3 122 _mutex.lock();
sahilmgandhi 18:6a4db94011d3 123 }
sahilmgandhi 18:6a4db94011d3 124
sahilmgandhi 18:6a4db94011d3 125 void CAN::unlock() {
sahilmgandhi 18:6a4db94011d3 126 _mutex.unlock();
sahilmgandhi 18:6a4db94011d3 127 }
sahilmgandhi 18:6a4db94011d3 128
sahilmgandhi 18:6a4db94011d3 129 } // namespace mbed
sahilmgandhi 18:6a4db94011d3 130
sahilmgandhi 18:6a4db94011d3 131 #endif